Multi-Pathway Satellite Communication Systems and Methods

ABSTRACT

Systems and methods for controlling satellites are provided. In one example embodiment, a computing system can obtain a request for image data. The request can be associated with a priority for acquiring the image data. The computing system can determine an availability of a plurality of satellites to acquire the image data based at least in part on the request. The computing system can select from among a plurality of communication pathways to transmit an image acquisition command to a satellite based at least in part on the request priority. The plurality of communication pathways can include a communication pathway via which the image acquisition command is indirectly communicated to the satellite via a geostationary satellite. The computing system can send the image acquisition command to the selected satellite via the selected communication pathway. Data from the satellite can be relayed to ground-based stations via one or more relay satellites.

RELATED APPLICATIONS

The present application is a continuation-in-part of U.S. patentapplication Ser. No. 16/529,299 filed on Aug. 1, 2019, the entiredisclosure of which is incorporated by reference herein.

FIELD

The present disclosure relates generally to facilitating communicationwith a constellation of satellites. More particularly, the presentdisclosure relates to systems and methods for communicating withsatellites to acquire data via, for example, a near real-timecommunication pathway including one or more relay satellites.

BACKGROUND

A constellation of imaging satellites can be utilized to acquireimagery. The satellites can be controlled to acquire the imagery by, forexample, a ground-based control center. The control center can uplinkcommands to the satellites and receive imagery via a satellite downlink.

SUMMARY

Aspects and advantages of embodiments of the present disclosure will beset forth in part in the following description, or can be learned fromthe description, or can be learned through practice of the embodiments.

One example embodiment of the present disclosure is directed to acomputer-implemented method for satellite imaging. The method includesreceiving, by a satellite computing system including one or moresatellite computing devices, an imaging task payload associated with apriority. The imaging task payload having been generated responsive toan image acquisition command and the image acquisition command havingbeen transmitted to the imaging satellite via a communication pathwayselected from a plurality of communication pathways at least in partbased on the priority. The satellite computing system includes one ormore relay satellites in low-earth orbit, the imaging task payload beingreceived from an imaging satellite. The method further comprisestransmitting, by the satellite computing system, the imaging taskpayload to an imaging task payload receiver.

Another example embodiment of the present disclosure is directed to acomputing system. The computing system includes one or more processorsand one or more tangible, non-transitory, computer readable media thatcollectively store instructions that when executed by the one or moreprocessors cause the computing system to perform operations. Theoperations include obtaining a request for image data. The request isassociated with a high priority for acquiring the image data. Theoperations include determining a selected imaging satellite from aplurality of imaging satellites to acquire the image data based at leastin part on an availability of the selected imaging satellite to acquirethe image data. The operations include determining a selectedcommunication pathway of a plurality of communication pathways forservicing the request for image data. The selected communication pathwayincludes an uplink communication pathway for transmitting an imageacquisition command to the selected imaging satellite and a downlinkcommunication pathway for transmitting an imaging task payload from theselected imaging satellite. The downlink communication pathway includesa communication of the imaging task payload via one or more relaysatellites and sending the image acquisition command to the selectedimaging satellite to service the request for image data via the selectedcommunication pathway.

Yet another example embodiment of the present disclosure is directed toone or more tangible, non-transitory, computer readable media thatcollectively store instructions that when executed by the one or moreprocessors cause the computing system to perform operations. Theoperations include obtaining a request for image data. The request isassociated with a priority for acquiring the image data. The operationsinclude determining a selected imaging satellite from a plurality ofimaging satellites to acquire the image data based at least in part onan availability of the selected imaging satellite to acquire the imagedata. The operations include determining a selected communicationpathway of a plurality of communication pathways for servicing therequest for image data. The selected communication pathway includes anuplink communication pathway for transmitting an image acquisitioncommand to the selected imaging satellite and a downlink communicationpathway for transmitting an imaging task payload from the selectedimaging satellite. If the priority is indicative of a high priority forobtaining the image data, the downlink communication pathway includes acommunication of the imaging task payload via one or more relaysatellites. The operations include sending the image acquisition commandto the selected imaging satellite to service the request for image datavia the selected communication pathway.

Other aspects of the present disclosure are directed to various methods,systems, apparatuses, non-transitory computer-readable media, userinterfaces, and electronic devices.

These and other features, aspects, and advantages of various embodimentsof the present disclosure will become better understood with referenceto the following description and appended claims. The accompanyingdrawings, which are incorporated in and constitute a part of thisspecification, illustrate example embodiments of the present disclosureand, together with the description, serve to explain the relatedprinciples.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art is set forth in the specification, which makes reference to theappended figures, in which:

FIG. 1 depicts a block diagram of an example satellite system accordingto example embodiments of the present disclosure;

FIG. 2 depicts a graphical diagram illustrating an example communicationpathway according to example embodiments of the present disclosure;

FIG. 3 depicts a block diagram of satellite hardware according toexample embodiments of the present disclosure;

FIG. 4 depicts a block diagram of example satellite software accordingto example embodiments of the present disclosure;

FIG. 5 depicts a flow diagram of an example method for selectivelycommunicating with and controlling satellites to acquire image dataaccording to example embodiments of the present disclosure;

FIG. 6 depicts example image acquisition tracks according to exampleembodiments of the present disclosure;

FIG. 7 depicts a flow diagram of an example method for satellite imagingcontrol according to example embodiments of the present disclosure;

FIG. 8 depicts a flow diagram of an example method for satellite controlfor conjunction avoidance according to example embodiments of thepresent disclosure;

FIG. 9 depicts a flow diagram of an example method for satellite imagingaccording to example embodiments of the present disclosure; and

FIG. 10 depicts example system components according to exampleembodiments of the present disclosure.

DETAILED DESCRIPTION Overview

Example aspects of the present disclosure are directed to systems andmethods for persistent, near real-time communication with satellites andthe selection of various communication pathways to efficiently utilizethe resources available for communicating with the satellites. Forinstance, an entity can provide an imaging service by which a user canrequest image data of a particular target (e.g., a geographic area onEarth, another planet, celestial body, portion of the universe, etc.).The request can indicate the location of the target to be imaged and canbe associated with a priority. The priority can indicate, for example,how quickly the user would like to have the image data acquired by asatellite and/or delivered to the user. Based on the request, asatellite command system can determine whether any of the imagingsatellites associated with the entity (e.g., owned, operated by, leased,accessible to, etc.) are available to acquire the image data of thespecified target and within the given priority time constraints.

In the event a satellite is available to acquire the requested imagedata, the satellite command system can select a satellite (e.g., LowEarth Orbit (LEO) satellite, a Medium Earth Orbit (MEO) satellite, etc.)to acquire the image data and select an appropriate communicationpathway for servicing the request for image data. A communicationpathway can include an uplink communication pathway (e.g., fortransmission to the imaging satellite) and a downlink communicationpathway (e.g., for transmission from the imaging satellite).

In one embodiment, the selected communication pathway includes an uplinkcommunication pathway by which to send an image acquisition command tothe selected imaging satellite. For example, in the event that the usersubmits a higher priority request (e.g., higher than a given threshold),the satellite command system can select a communication pathwayincluding a near-real time uplink communication pathway (“RTcommunication pathway”) via which the image acquisition command istransmitted indirectly to the selected imaging satellite via a relaysatellite (e.g., a geostationary satellite). This RT communicationpathway can allow the command to be communicated to the selected imagingsatellite in at least near real-time without any special pointingrequirements (at any time), which may avoid tasking delays. In the eventthat the user submits a lower priority request, the satellite commandsystem can select a “standard uplink communication pathway” via whichthe image acquisition command is transmitted directly to the selectedimaging satellite (e.g., without the use of an intermediategeostationary satellite). In such a scenario, the standard uplinkcommunication pathway may require certain satellite pointing parametersto transmit the image acquisition command to the selected imagingsatellite (e.g., when the satellite is within a certain range of aground command center).

In some examples, the selected communication pathway includes a downlinkcommunication pathway. For instance, the downlink communication pathwaycan be used to transmit an imaging task payload from the selectedimaging satellite to an imaging task payload receiver. The imaging taskpayload can include, for example, image data collected and/or capturedby the selected imaging satellite. The imaging task payload can betransmitted from the selected imaging satellite to its intendeddestination via one or more relay satellites (e.g., a constellation orsystem of one or more relay satellites). In some embodiments, the relaysatellites may be in a low-earth orbit. In some embodiments, the relaysatellites may be in an orbit having a higher altitude than the imagingsatellite(s).

In some embodiments, the destination of the imaging task payload (e.g.,the destination comprising an imaging task payload receiver) is aground-based station. For example, a selected imaging satellite maycapture requested image data and store the image in the imaging taskpayload. The imaging task payload may be transmitted to a relaysatellite in low-earth orbit (e.g., an “LEO relay” satellite). In someembodiments, the relay satellite may transmit the imaging task payloadto a ground-based station for servicing the image data request. Therelay satellite may, in additional embodiments, transmit the imagingtask payload to one or more other relay satellites (e.g., one, two,three, or more other relay satellites; optionally also in low-earthorbit), and one of the other relay satellite(s) may transmit the imagingtask payload to the ground-based station. In this manner, multiple relaysatellites (e.g., two, three, or more) may be used to relay the imagingtask payload to a destination. In some examples, the one or more relaysatellites may relay the imaging task payload to the ground-basedstation to provide a quicker downlink transmission (e.g., lower latency)than would be provided by waiting for the selected imaging satellite toarrive in the appropriate position in its orbit to directly downlink tothe ground-based station. In some embodiments, a downlink communicationpathway including one or more relay satellites can be selected based atleast in part on a determination that a request is associated with ahigher priority (e.g., higher than a threshold).

In some examples, the imaging task payload may include informationand/or instructions corresponding to additional image acquisitioncommand(s), and the destination(s) of the imaging task payload mayinclude one or more additional imaging satellites. For example, one ormore additional imaging satellites may include an imaging task payloadreceiver. For instance, a first imaging satellite may be selected foracquiring the image data, and the first imaging satellite may acquireand/or attempt to acquire image data. If desired, the first imagingsatellite can be instructed to transmit additional and/or further imageacquisition command(s) to a second imaging satellite (e.g., in a “tipand cue” scheme). The first imaging satellite can transmit an imagingtask payload containing the additional and/or further image acquisitioncommand(s) (optionally also containing image data from the first imagingsatellite) to one or more relay satellite(s) as described above, and theone or more relay satellite(s) may relay the imaging task payload to asecond imaging satellite for further acquisition of image data (e.g., ofthe same or different subject of interest). Optionally, if the firstimaging satellite successfully collected image data, the portion of theimaging task payload containing the successfully collected image datacan be transmitted to a ground station in the manner described above. Insome embodiments, multiple imaging satellites can acquire image data andsuccessively forward the imaging task payload (e.g., optionallyincluding the acquired image data) to maintain near real-time monitoringof a subject of interest.

Although the preceding description has referred to the relaysatellite(s) as relaying transmissions in the downlink pathway, it is tobe understood that the relay satellite(s) may also be used for uplink tothe imaging satellite(s) to secure many of the same advantages. Forexample, the communication pathway(s) between the one or more relaysatellite(s), the imaging satellite(s), and/or the ground-based stationscan be one-way or two-way (e.g., for communication of image acquisitioncommands, imaging task payloads, and/or acknowledgements thereof). Inone embodiment, one or more of the relay satellite(s) may be used fortelemetry, tracking, and/or command (TTC) communications with one ormore imaging satellites. In some embodiments, Doppler compensation canbe employed in the tracking and handoff of communications between theone or more relay satellite(s) and the one or more imaging satellite(s).

The one or more relay satellite(s) of the downlink communication pathwaycan communicate with the imaging satellite(s) in a continuous manner orin a batch/burst manner. For example, in some embodiments, the imagingsatellite(s) can always be tracked by at least one of the relaysatellite(s) (e.g., with a steerable antenna array) to constantlymaintain for a period of time a communication pathway is in readinessfor transmissions from the imaging satellite. In some embodiments, theimaging satellite and the relay satellite(s) can communicate on aschedule, such as based on times which correspond to scheduled and/orpredicted relative positions/orientations of the respective satellites.

In some embodiments, the one or more relay satellite(s), the imagingsatellite(s), and/or the ground-based stations can communication usingradio frequency communications and/or optical transmissions (e.g., fordownlink and/or uplink).

Once the communication pathway is selected, the satellite command systemcan transmit the image acquisition command to the selected imagingsatellite via the selected communication pathway and eventually receivethe requested image data (e.g., via the downlink communication pathwayof the selected communication pathway). In this way, example embodimentsof the technology described herein provide multiple uplink communicationpathways for communicating with one or more imaging satellite(s), aswell as multiple downlink communication pathways for transmitting apayload (e.g., an imaging task payload) from the one or more imagingsatellite(s). Accordingly, embodiments of systems and methods of thepresent disclosure provide flexibility to utilize certain pathways basedon the priority of the image acquisition. Moreover, by including the RTcommunication pathway and/or a downlink communication pathway includingone or more LEO relay satellites, the systems and methods of the presentdisclosure provide a low size, weight, and power (SWaP) persistentcommunication solution for low data rate applications (e.g., launch andearly orbit operations (LEOP), time-critical satellite taskingoperations, command acknowledgements, critical status reports, anomalyrecovery operations, conjunction assessment and collision avoidance,etc.), as further described herein.

The systems and methods described herein provide a number of technicaleffects and benefits. For instance, the systems and methods of thepresent disclosure allow for more efficient satellite communicationsthat reduce latency presented by communication methods that includeorbital access/pointing/range requirements toward ground stations foruplink and downlink. Moreover, the communication technology describedherein provides a global set of communication pathways by which anentity can persistently command its associated satellites and/orretrieve data therefrom. For example, the beams provided by theintermediate satellites (e.g., GEO satellites) can provide coverage overthe entire earth and provide access to all target satellites at alltimes. Likewise, a system or constellation of one or more LEO relaysatellites can provide wide coverage to enable selected imagingsatellite(s) to transmit captured or generated data to all destinationsat all times. This can allow for the near real-time adjustments toimprove satellite image capture, damage mitigation (e.g., collisionavoidance, etc.), trajectory correction, interference reduction, etc.

Additionally, the reduced latency associated with example embodiments ofthe present disclosure enable new applications of image recognitiontechniques to perform autonomous detection and tracking of subjects ofinterest for image acquisition. For instance, in some embodiments,onboard processors on one or more imaging satellites of the presentdisclosure can perform image recognition on images captured by thesatellites. Additionally, or alternatively, the low latencycommunication pathway(s) can permit the images captured by one or moreof the imaging satellites to be downlinked to computing systems whichcan further process the images using one or more additional imagerecognition models, including powerful machine-learned image recognitionmodels, to generate recognition results and/or additional imageacquisition commands for rapid uplink to the imaging satellites. In thismanner, the low-latency communication pathway(s) of example embodimentsof the present disclosure can permit one or more imaging satellites toleverage increased processing power of external computing systems toapply advanced machine-learning techniques and models.

Additionally, downlink communication pathways including relay satellitesaccording to the present disclosure offer significant improvements overpast approaches, which have typically required large numbers of costlyground stations, with associated significant costs. Traditionally, thealternative to large numbers of ground stations is to “store andforward” data from the imaging satellites, which requires imagingsatellites to store data onboard and “dump” the data during passes overa limited number of master ground stations. The “store and forward”technique generally defeats real-time earth observation and can imposelimitations on the spacecraft, both in the requirement to provisionsubstantial onboard storage and the amount of data which can becollected and distributed.

In contrast, the downlink communication pathways of the presentdisclosure provide for rapid communication with ground-based stations,as the transmission can be accomplished without having to wait for theimaging satellite itself to come within the portion of its orbit withintransmission range of the desired ground-based station. Advantageously,the imaging data can be relayed across one or more relay satellitesuntil a clear line of transmission can be obtained. This reduction inlatency permits the memory and/or cache of the imaging and relaysatellites to be used more effectively, as the image data does not needto be stored for long periods of time while the satellite(s) areorbiting. The resources on the satellite(s) are freed for completingadditional tasks and/or repeating the same tasks, improving efficiencyand/or accuracy of data gathered. In addition to improvements tolatency, efficiency, and accuracy, the downlink communication pathwaysaccording to aspects of the present disclosure also improve therobustness of time-sensitive downlink transmissions against localizedweather disruptions. For instance, by enabling rapid relaying of theimaging payload(s), an imaging satellite may be able to quickly redirectits transmission to an alternate ground-based station in the eventualitythat its originally-scheduled transmission to a primary ground-basedstation is disrupted by inclement weather patterns.

The systems and methods of the present disclosure also provide animprovement to satellite computing technology. For instance, thecomputer-implemented methods and systems improve the ability to controland command satellites (e.g., for the acquisition of data such as, forexample, image data) via a near real-time persistent communicationpathway. For example, a computing system can obtain a request for imagedata. The request can be associated with a priority for acquiring theimage data. The computing system can determine an availability of aplurality of satellites to acquire the image data based at least in parton the request. The computing system can determine a selected satellitefrom the plurality of satellites to acquire the image data based atleast in part on the availability of the selected satellite. Thecomputing system can determine a selected communication pathway of aplurality of communication pathways (e.g., including an uplinkcommunication pathway to transmit an image acquisition command to theselected satellite) based at least in part on the priority for acquiringthe image data. As further described herein, the plurality ofcommunication pathways can include a first uplink communication pathwayvia which the image acquisition command is directly communicated to theselected imaging satellite (e.g., a standard uplink communicationpathway) and a second uplink communication pathway via which the imageacquisition command is indirectly communicated to the imaging satellitevia a geostationary satellite (e.g., a near real-time persistent uplinkcommunication pathway). The computing system can send the imageacquisition command to the selected imaging satellite via the selectedcommunication pathway. In this way, the computing system can selectivelydetermine what communication pathway is appropriate given the priorityof the request. This can save bandwidth resources of the communicationpathways by aligning the pathways with the appropriate tasking.Moreover, the computing system can utilize the persistent communicationpathway (without specific orbital access or pointing requirements) totransmit data to and receive data from a satellite at all times. Thiscan allow for better communication of commands, status reports,avoidance instructions, anomaly recovery operations, etc.

Similarly, the downlink communication pathways as disclosed hereinprovide for quicker retrieval of captured image data, enabling thecapture of successive images in real time (or nearly so). For instance,some embodiments can provide for the capture and transmission of videoframe data in near real time, which is highly advantageous for nearlyall satellite imaging applications.

With reference now to the FIGS., example embodiments of the presentdisclosure will be discussed in further detail. FIG. 1 depicts a diagramof an example system 100 for controlling imaging satellites. Forexample, the system 100 can include a user device 105, a satellitecommand system 110, geostationary hub system(s) (“GEO hub(s)”) 115,geostationary satellite(s) 120, and a plurality of satellites 125 (e.g.,a constellation of imaging satellites). The system 100 can also includeone or more low-earth orbit (LEO) relay satellites 123. While thedescription and examples provided herein refer to one or more low-earthorbit relay satellites, the one or more relay satellites can also, oralternatively, include one or more medium-earth orbit (MEO) relaysatellites.

The imaging satellite(s) 125 can include a memory 126 (for storing animaging task payload/image data, in some embodiments) and communicationsequipment 127, and configuration instructions for the operation thereof.In some embodiments, communications equipment 127 can include steerableantenna arrays and/or reprogrammable radio communications equipmentwhich can be configured to communicate with the one or more LEO relaysatellite(s) 123. In some examples, the configuration includes aninstruction set for communicating via radio frequency communication. Insome embodiments, the imaging satellite(s) 125 can include one or morecomputing devices, such as are described in FIG. 10 . For instance, oneor more computing devices of the satellite(s) 125 can executeinstructions for the operation of imaging devices, communicationdevices, etc. In some embodiments, computing devices can include one ormore image processors and/or image processing models.

These components can be configured to communicate via one or morenetworks 130. The user device(s) 105 can be associated with a user 135.The satellite command system 110 can be associated with an entity thatprovides image data services and/or controls one or more satellite(s)125. The GEO hub(s) 115, geostationary satellite(s) 120, and/or theimaging satellites 125 can be associated with the entity and/or adifferent entity (e.g., that allows for the access/use of such assets).

The user device(s) 105 can be desktop computer, laptop computer, mobiledevice, server system, and/or other types of user devices. The userdevice(s) 105 can be configured to allow a user 135 to submit a request140 for acquiring image data. For example, the user device(s) 105 can beconfigured to present one or more user interfaces 145 (e.g., via one ormore display devices) that allow the user 135 to provide user input torequest image data. Data indicative of the user interface(s) 145 can beprovided by a computing system associated with the entity (e.g., thesatellite command system 110, etc.) over the network(s) 130. The userinterface(s) 145 can be presented via a software application, a website,browser, etc. The user 135 can provide user input (e.g., text input,voice input, touch input, selection input, etc.) via the userinterface(s) 145 to select one or more parameters associated with therequested image data. For example, the user input can specify an imagingtarget (e.g., a location, geographic area, building, structure, etc.).The user input can specify the imaging target based on locationinformation (e.g., coordinates, etc.), semantic name, identifier, and/orother information that identifies the target to be imaged. In someimplementations, the user input can specify a time parameter (e.g.,timeframe, point in time, etc.) at which the image data of the target ispreferred to be acquired. In some implementations, the user input canspecify a time parameter (e.g., timeframe, point in time, etc.) by whichthe image data of the target is preferred to be made available to theuser 135 (e.g., delivered, available for download, viewing, etc.).

The request 140 can be associated with a priority 150 for acquiring theimage data. The priority 150 can be a standard priority by which it issufficient for the image data to be acquired in a standard timeframe(e.g., over several hours). As further described herein, a standardpriority can indicate that an associated image acquisition command canbe placed in an imaging schedule/queue as it is received, withoutpreferential treatment. In some implementations, the priority 150 can bean intermediate priority by which the image data is to be acquiredand/or made available to the user 135 sooner than the standardtimeframe. For example, as further described herein, the intermediatepriority can indicate that an associated image acquisition command is tobe given preferential treatment over the other pending requests (e.g.,by moving the associated image acquisition command ahead of previouslypending commands in a schedule/queue, by moving downlink and/or deliverytime ahead in a schedule/queue, etc.). In some implementations, thepriority can be a high priority, which can indicate that the requestedimage data is to be acquired and/or made available in a higher and/orthe highest available rush manner. For example, as further describedherein, a high priority can indicate that an associated imageacquisition command is to be communicated to a satellite (e.g., via aparticular communication pathway) in manner than expedites imageacquisition and delivery.

The priority 150 associated with the request for image data can bedetermined in a variety of manners. In some implementations, the user135 can select the priority 150 associated with the request 140. Forexample, the user interface 145 may include one or more user interfaceelement(s) (e.g., buttons, toggles, menus, lists, fields, etc.) thatallow the user 130 to select the priority 150 (e.g., standard priority,intermediate priority, high priority, etc.) associated with the request140. In some implementations, the ability to select such an element maybe based at least in part on whether the entity can meet the requestwith the selected priority. For example, a computing system associatedwith the entity (e.g., the satellite command system 110) can determinewhether one or more of the plurality of satellites 125 would beavailable to acquire image data of the requested target in the expeditedmanner associated with a high priority request (e.g., based oncurrent/future satellite location, trajectory, memory resources, etc.).In the event that the entity can meet such a prioritized request (e.g.,due to satellite availability), the user interface 145 can present auser interface element and/or other option for selecting a highpriority. In the event that the entity cannot meet such a prioritizedrequest (e.g., due to satellite unavailability), the user interface 145may not present a user interface element and/or other option forselecting a high priority (e.g., greying-out element, omitting elementfrom user interface, etc.).

In some implementations, the priority 150 associated with a request 140can be determined based at least in part on a time parameter associatedwith the request. For example, the priority 150 of the request 140 canbe determined based at least in part on a time by which the user 135specifies that the image data is to be acquired and/or made available.By way of example, in the event that the user 135 specifies that theimage data should be acquired and/or made available in less than onehour, the request 140 can be associated with a high priority. In anotherexample, in the event that the user 135 does not specify that the imagedata should be acquired and/or made available within a certaintimeframe, the request 140 can be associated with a standard priority.Such a determination can be made, for example, by the satellite commandsystem 110 and/or another system.

In some implementations, the priority 150 can be determined based atleast in part on the user 135 and/or type of user 135. For example, inthe event that the user 135 is considered a higher value customer (e.g.,due to a certain subscription, purchase history, contract, etc.), thepriority 150 associated with a request can be determined to be a highpriority. In another example, in the event that the user 135 isassociated with a type of entity that generally needs/prefers expeditedimage data (e.g., an emergency response entity, etc.), the priority 150associated with a request 140 can be determined to be a high priority.Such a determination can be made, for example, by the satellite commandsystem 110 and/or another system.

In some implementations, the priority 150 can be determined based atleast in part on the target (e.g., type of target, location, etc.). Forexample, in event that the type of target may be subject to change at ahigher rate (e.g., an area experiencing a wildfire), the priority 150associated with a request can be determined to be a high priority. Inanother example, in the event that the type of target may be subject tochange at a lower rate (e.g., a park undergoing a long-termreconstruction project), the priority 150 associated with a request 140can be determined to be a high priority. In some implementations, thepriority 150 may be based at least in part on the location of thetarget. For example, the target may include a movable and/or movingobject (e.g., one or more automobiles). The target may be moving suchthat it will be subject to conditions that would make it more difficultto acquire image data of the target (e.g., the automobile(s) that aredriving along a path that enters a tunnel). In such a case, the priority150 associated with a request 140 can be determined to be a highpriority (e.g., so that image data is acquired prior to theautomobile(s) entering the tunnel). Such a determination can be made,for example, by the satellite command system 110 and/or another system.

The satellite command system 110 can be configured to obtain the request140 for the image data from the user device(s) 105 (e.g., via thenetwork(s) 130). The satellite command system 110 can parse the request(e.g., a data set, etc.) to determine the location of the target to beimaged and the time within which the image data is preferred to beacquired and/or made available to the user 135. As described herein,such timing can be determined based at least in part on a priority 150and/or time parameters explicitly provided by the user 135.

The satellite command system 110 can be configured to determine anavailability of the plurality of satellites 125 to acquire the imagedata based at least in part on the request 140. For example, thesatellite command system 110 can obtain data associated with thesatellites 125 (e.g., on a periodic basis, on-demand basis, on ascheduled basis, etc.) and determine whether any of the satellites 125are available to acquire image data of the target within a timeframethat is sufficient for the request 140 (e.g., given the associatedpriority 150). The data associated with the satellites 125 can beindicative of various parameters associated with the satellites 125. Forinstance, the data associated with the satellites 125 can include aschedule indicative of the pending image acquisition commands/sequencesof a given satellite or group of satellites. Additionally, oralternatively, the data associated with satellites 125 can include dataindicative of the past, present, and/or future trajectory of thesatellite(s). Additionally, or alternatively, the data associated withthe satellites can include information associated with the powerresources (e.g., power level, etc.), memory resources (e.g., storageavailability, etc.), communication resources (e.g., bandwidth), etc. ofthe satellite(s). Additionally, or alternatively, the data associatedwith the satellites 125 can include health and maintenance informationassociated with the satellite(s) 125 (e.g., maintenance schedules,damage reports, other status reports, etc.). Additionally, oralternatively, the data associated with the satellites 125 can includedata indicative of the type and/or status of the hardware (e.g.,antenna, communication interfaces, etc.) and/or software onboard asatellite.

The satellite command system 110 can be configured to determine whetherat least one satellite is available to acquire image data in accordancewith the request 140 based at least in part on the data associated withthe satellites 125. For example, the satellite command system 110 candetermine whether a satellite 125 (e.g., with sufficient power, memory,communication resources, etc.) is on a trajectory or can be moved to atrajectory/position that would allow the satellite 125 to acquire imagedata of a target (e.g., an area experiencing a wildfire) within atimeframe that meets the request 140 (e.g., within a timeframeassociated with a high priority request). If so, the satellite commandsystem can determine that a satellite from the plurality of satellites125 is available to acquire the requested image data and can accept therequest. Additionally, or alternatively, the satellite command system110 can determine availability based on the currently scheduled imagingtasks of the satellites and whether such a task can be disturbed. Insome implementations, the satellite command system 110 can provide aconfirmation message to the user 135 (e.g., via the user interface 145).

The satellite command system 110 can be configured to select a satellitefrom the plurality of satellites (e.g., a plurality of imagingsatellites) to acquire the image data based at least in part on theavailability of the satellites 125 to acquire the image data. Forexample, in the event that only one satellite is available, thesatellite command system 110 can select that available satellite toacquire the image data of the target. In some implementations, thesatellite command system 110 can select a satellite from among aplurality of satellites that are available to acquire the image data.For example, the satellite command system 110 can perform anoptimization analysis to determine which of the satellites 125 can bechosen to acquire the requested data in an expedited manner whileminimizing the impact (e.g., time delay) on the other pending tasksand/or the satellite itself (e.g., power/memory resources).

The satellite command system 110 can be configured to generate an imageacquisition command 155 for instructing an imaging satellite 125 toacquire image data. The image acquisition command 155 can includeparameters for an imaging satellite 125 to utilize in order to acquirethe requested image data. For example, the image acquisition command 155can include data indicative of a location of the target, the order inwhich the associated data is to be acquired relative to other imagingtasks, a position/orientation of the imaging satellite 125, sensorsettings (e.g., camera settings, etc.), and/or other information. Insome implementations, as further described herein, an image acquisitioncommand 155 can include a plurality of image acquisition tracks thatindicate the sequences in which an imaging satellite 125 is to acquireimage data.

In some embodiments, image acquisition commands 155 can compriseinstructions to capture one or more images of one or more subjects ofinterest (SOIs). In some embodiments, an SOI can be an area of interest(AOI), such as, for example, a geographical area of which images aredesired. For instance, an image acquisition command 155 can specify oneor more coordinates for capturing images depicting a location and/or anarea.

Additionally, or alternatively, image acquisition commands 155 cancomprise instructions to determine one or more AOIs based on anindicated SOI. For instance, an SOI may have known or unknownwhereabouts. An SOI can include any object; any structure; any entity;any land, air, or water-borne vehicle; any animal or groups of animals(e.g., present on land, air, and/or water); any weather formation orother natural, visually identifiable subject; or substantially any othersubject of which images are desired. In some embodiments, the SOI can bespecified in categorical terms and/or specific terms. For instance, animage acquisition command 155 can comprise instructions to obtain imagesof a specific SOI (e.g., a particular SOI having a specific identity,such as a particular ship in the ocean, particular weather formationbeing tracked, etc.). In some embodiments, an image acquisition command155 can additionally or alternatively comprise instructions to obtainimages of a category of SOIs, such that the instructions indicate forthe imaging satellite(s) 125 to obtain image data of any subjects thatmatch a particular profile and/or description. In this manner, an imageacquisition command 155 can correspond to an SOI, and, in someembodiments, an AOI can be determined based on recognition of the SOIwithin an area.

The satellite command system 110 can be configured to transmit imageacquisition commands to the selected imaging satellite via a pluralityof communication pathways. The plurality of communication pathways caninclude a number of uplink communication pathways 200A-200C. Forinstance, the plurality of uplink communication pathways 200A-C caninclude a first uplink communication pathway 200A. The first uplinkcommunication pathway 200A can include an uplink communication pathwayvia which an image acquisition command 155 is sent directly to thesatellite 125. For instance, a signal can be sent from a ground-basedcommand center to a satellite 125 when the orbital access andpointing/range requirements of that pathway are met (e.g., when thesatellite is in an orbit position to receive a transmission from aground-based command center). The first uplink communication pathway200A may allow for larger sizes of data to be transmitted to a satellite125. Due to the orbital access and pointing requirements, the firstuplink communication pathway 200A may also have latency drawbacks foruplink (and/or downlink, when used for downlink in some embodiments).Thus, the first uplink communication pathway 200A may not always providea ubiquitous, near-real time communication mechanism for transmittingdata to and/or from the satellite(s) 125. The first uplink communicationpathway 200A may also be referred to as the “standard uplinkcommunication pathway 200A.”

The plurality of uplink communication pathways 200A-C can include asecond uplink communication pathway 200B. The second uplinkcommunication pathway 200B can include an uplink communication pathwayvia which an image acquisition command is indirectly communicated to thesatellite via a GEO hub 115 and/or a geostationary satellite 120. TheGEO hub(s) 115 can be ground stations operated by the entitiesassociated with the geostationary satellites 120. The geostationarysatellites 120 can be satellites that travel at an orbit above thesurface of the earth (or other body) and that generally provideline-of-sight coverage of a third of the Earth (or other body). Forexample, a single geostationary satellite 125 can be on a line of sightwith about 40 percent of the earth's surface. Three such satellites,each separated by 120 degrees of longitude, can generally providecoverage of the entire Earth. This can allow the second uplinkcommunication pathway 200B to provide a near-real time, persistent andubiquitous communication solution for the satellite command system 110to communicate with the satellites 125. The second uplink communicationpathway 200B may also be referred to as the “RT communication pathway.”Although communication pathways 200A-200B have heretofore been referredto as “uplink” communication pathways, it is to be understood thatcommunication pathways 200A-200B can be used for uplink and/or downlink,such as shown in FIG. 1 .

A third communication pathway which can be used for uplink and/ordownlink is shown as downlink communication pathway 200C. The satellitecommand system 110 can transmit and/or receive communications (e.g., viafirst or third party ground-based stations) with the LEO relay(s) 123.The LEO relays 123, in turn, may communicate with the imagingsatellite(s) 125 for the transmission and/or receipt of imaging taskpayloads (e.g., including image data, image acquisition commands,tip-and-cue instruction sets, etc.). In some embodiments, theuplink/downlink communication pathway 200C can include multipletransmissions between two or more imaging satellite(s) and one or moreLEO relay(s) 123, for relaying imaging task payloads between imagingsatellite(s) and/or to ground-based stations.

In some embodiments, the uplink/downlink communication pathway 200C caninclude communications directly with the user device 105. For instance,the user device 105 can include a terminal provided to the user 135 byan entity associated with the LEO relays 123, which can be the sameentity as associated with the satellite command system 110 and/or theimaging satellite(s) 125 or can be a different entity than thatassociated with the satellite command system 110 and/or the imagingsatellite(s) 125. Additionally, or alternatively, the user device 105can be a device associated with an end-user, requestor, and/or consumerof the transmitted data.

By way of example, the destination of the imaging task payload can be aground-based station. An imaging satellite 125 (e.g., selected by thesatellite command system 110) may capture requested image data and storethe image in an imaging task payload. The imaging task payload caninclude one or more frames of a video recording (e.g., captured via theimaging satellite 125). The imaging task payload may be transmitted toone or more LEO relays 123. In some embodiments, the LEO relay(s) 123may transmit the imaging task payload to a ground-based station forservicing the request 140 (e.g., processing, storing, providing to anend-user, providing to another system/entity, etc.). The LEO relay(s)123 may transmit the imaging task payload to one or more other relaysatellites (e.g., one, two, three, or more other relay satellites;optionally also in low-earth orbit), and one of the other relaysatellite(s) may transmit the imaging task payload to the ground-basedstation. In this manner, multiple relay satellites (e.g., two, three, ormore) may be used to relay the imaging task payload to a destination forservicing the request 140. This may allow the one or more LEO relay(s)123 to relay the imaging task payload to the ground-based station in amanner quicker than would be provided by waiting for the selectedimaging satellite to arrive in the appropriate position in its orbit todirectly downlink to the ground-based station. In some embodiments, thecommunication pathway 200C including one or more LEO relay(s) 123 can beselected based at least in part on a determination that a request isassociated with a higher priority 150 (e.g., higher than a threshold),as similarly described herein.

In some examples, the imaging task payload may include informationand/or instructions corresponding to additional image acquisitioncommand(s), and the destination(s) of the imaging task payload mayinclude one or more additional imaging satellites 125. For example, oneor more additional imaging satellites 125 may include an imaging taskpayload receiver. For instance, a first imaging satellite 125 may beselected for acquiring the image data, and the first imaging satellite125 may acquire and/or attempt to acquire image data. The first imagingsatellite 125 can be instructed to transmit additional and/or furtherimage acquisition command(s) to a second imaging satellite 125. Thefirst imaging satellite 125 can transmit an imaging task payloadcontaining the additional and/or further image acquisition command(s)(optionally also containing image data from the first imaging satellite)to one or more LEO relays 123 as described herein. The one or more LEOrelays 123 may relay the imaging task payload to a second imagingsatellite 125 for further acquisition of image data (e.g., of the sameor different SOI). Optionally, if the first imaging satellite 125successfully collected image data, the portion of the imaging taskpayload containing the successfully collected image data can betransmitted to a ground-based station or ground-based terminal in themanner described herein. In some embodiments, multiple imagingsatellites 125 can acquire image data and successively forward theimaging task payload (e.g., optionally including the acquired imagedata) to maintain real-time or at least near real-time monitoring of aSOI, such as for real-time or at least near real-time monitoring of anAOI.

In one embodiment, at least near real-time monitoring can include thecapture of one or more images in quick succession. For instance, in someembodiments, the images can be captured in quick succession in such amanner that the images can be combined and/or viewed as frames of avideo. Advantageously, the low latency associated with exampleembodiments of communications pathways of the present disclosure canprovide for the delivery of a plurality of one or more frames of a videoin a near real-time fashion (e.g., “streaming” the captured successiveimages to a ground-based station). In some embodiments, a plurality ofimaging satellites can cooperatively stream video imagery (e.g.,successively captured images of a subject) by relaying the imaging taskpayload via one or more LEO relays 123, as described herein. Forinstance, a first imaging satellite 125 can continuously monitor an SOI(e.g., capture image data, such as for frames of a video depicting theSOI) while the SOI remains within view of the first imaging satellite125, and the first imaging satellite 125 can then relay the imaging taskpayload to a second imaging satellite 125 for further acquisition ofimage data. Additionally, in some embodiments, the first and secondimaging satellites 125 can continuously relay captured image data viathe LEO relays 123 to a destination (e.g., ground-based terminal) whilemonitoring the SOI. For instance, the first and second imagingsatellites 125 can include a steerable antenna array trained on at leastone of the LEO relays 123 while monitoring the SOI.

The one or more LEO relays 123 of the communication pathway 200C cancommunicate with the imaging satellite(s) in a continuous manner, in abatch/burst manner, and/or in another manner. For example, in someembodiments, the imaging satellite(s) 125 can always be tracked via atleast one of the LEO relays 123 (e.g., with a steerable antenna array)to constantly maintain for a period of time a communication pathway isin readiness for transmissions from the imaging satellite 125. In someembodiments, the imaging satellite 125 and at least one of the LEOrelay(s) 123 can communicate on a schedule, such as based on times whichcorrespond to scheduled and/or predicted relative positions/orientationsof the respective satellites. In some embodiments, the LEO relay(s) 123,the imaging satellite(s) 125, and/or the ground-based station(s) cancommunication using radio frequency communications and/or opticaltransmissions (e.g., for downlink and/or uplink). For instance, one ormore of the radio frequency communications and/or one or more of theoptical transmissions can comprise signals of any suitable frequency. Insome examples, one or more signals can be of a frequency of from about 5GHz to about 20 GHz. In some examples, one or more signals can be of afrequency of about 20 GHz to about 40 GHz. In some examples, one or moresignals can be of a frequency of about 26.5 GHz to about 40 GHz, such asa frequency of about 26.5 GHz to about 30 GHz.

FIG. 2 provides a diagram overview of the RT communication pathway 200Band the uplink/downlink communication pathway 200C. For example, the RTcommunication pathway 200B can include a GEO communicationinfrastructure. One example GEO communication infrastructure that can beused to provide a near real-time communication solution is Very SmallAperture Terminal (VSAT). This can include a two way satellitecommunication system. For instance, the RT communication pathway 200Bcan include a plurality of geostationary satellites 120 witharchitecture for providing global beams such as, for example, bent-pipeC-band transponders providing global coverage beams. For example, asshown, three geostationary satellites 120 (e.g., with global C-bandbeams) placed 120 degrees apart can provide global coverage (e.g., at a500 km low earth orbit altitude). The bent-pipe architecture can mirrorthe uplink channel to a lower frequency downlink channel (e.g., 6 GHz to4 GHz). C-band transponders can be, for example, 36 MHz wide, while amaximum global covered latitude can be ±81° for terrestrial stations and±90° for 500 km to 700 km low earth orbit. Such an approach can provideglobal low earth orbit coverage, a deterministic latency (e.g., ˜10 s),lower cost, and a flexible bent-pipe architecture that allows for fullcontrol of modulation, coding, and encryption. The infrastructure of theRT communication pathway 200B (e.g., the GEO hub(s) 115, geostationarysatellite(s) 120, etc.) can be associated with one or more otherentities (e.g., third party vendors) that are different than the entityassociated with the satellite command system 110 (e.g., the imagingservice provider). In addition to C-band global beams, regional and spotbeams are available at C, Ku, or Ka band that provide effectiveisotropic radiated power (EIRP) and gain over noise temperature (G/T).By leasing regional beams on multiple GEO satellites (more than 3)global coverage could be achieved at higher data rates.

To establish a network connection for the RT communication pathway 200B,the satellite command system 110 can utilize dedicated bandwidth fromthe geostationary satellites 120 and GEO hub(s) 115. A link can beestablished to a particular satellite 125B, for example (e.g., a LEOsatellite, MEO satellite, etc.), by selecting the correspondinggeostationary satellite 120 and GEO hub 115. As described herein, theGEO hub(s) 115 can be ground stations with communication infrastructurefor communication with the geostationary satellites 120. In someimplementations, modems tuned to dedicated frequencies for the entityassociated with the satellite command system 110 can be housed at theGEO hub(s) 115. The RT communication pathway 200B can achieve, forexample, a round trip time of 0.5 seconds up to several seconds totransmit an image acquisition command 155 to a satellite 125B.

The RT communication pathway 200B may not require special pointingconstraints for enforcing tasking operations (e.g., transmitting imageacquisition commands). To allow for on-demand, persistent, nearreal-time tasking, a receiver on the satellite 125B may be kept on. Insome implementations, tasking reaction time can be on the order ofminutes depending on the image acquisition command length (e.g., adeterministic quantity). Tasking can be done in an open loop fashion.Tasking data rates can be, for example, on the order of 10 s of bits persecond (bps) without pointing and could go up to 500 bps with pointing(if desired).

The satellite 125A, 125B may optionally not communicate (e.g., to thesatellite command system 110) an acknowledge message of the receipt ofthe image acquisition command 155. This can help to avoid the consistentpowering and positioning (e.g., toward a geostationary satellite 120) ofa satellite transmitter. In some implementations, to establish a reverselink for an acknowledgement (if desired), a satellite 125A can turn thetransmitter on and point it towards a geostationary satellite(s) 120 tofollow the same/similar pathway to the satellite command system 110 asthe image acquisition command 155.

Image acquisition commands 155 sent from the satellite command system110 can be transmitted via the network(s) 130 (e.g., an internetnetwork, etc.) to a GEO hub 115. The GEO hub 115 can transform an imageacquisition command 155 to a radio signal. The GEO hub 115 can providefrequency translation, amplification, and retransmission to thegeostationary satellite 120.

The RT communication pathway 200B can allow the system 100 to overcomecertain communication-related issues. For example, to mitigate potentialDoppler problems, the system 100 can utilize a bandwidth expansiontechnique such as, for example, direct sequence spread spectrum (DSSS)scheme. Bandwidth expansion can ease carrier synchronization andtracking, ease reference frequency oscillator tolerances, allow theincrease of total transmitted power without violating maximum powerspectral densities (PSD), etc. Moreover, DSSS technique can allow forthe use of the same shared spectrum to communicate with a fleet ofsatellites 125A, 125B (e.g., LEO satellites). In another example, uplinktransmissions (e.g., at 6 GHz) can be subject to an angular emissionmask to avoid interference to adjacent geostationary satellites. In someimplementations, assets in the RT communication pathway 200B can use asmall aperture low gain antenna that could illuminate multiplegeostationary satellites. To mitigate this problem, one example solutioncan be to operate with a low power transmitter (1 W) occupying aparticular bandwidth (e.g., 1 MHz bandwidth).

As shown, in the RT communication pathway 200B, the satellite commandsystem 110 can communicate an image acquisition command 155 to a GEO hub115. As further described herein, the GEO hub 115 can communicate theimage acquisition command 155 (e.g., a radio signal translation thereof)to a geostationary satellite 120. The geostationary satellite 120 cancommunicate the image acquisition command 155 to the selected satellite125A, 125B that is to acquire the requested image data. In someimplementations, a GEO hub 115 can communicate the image acquisitioncommand 155 to one or more other GEO hubs 115. This can allow the GEOhub(s) 115 to communicate the image acquisition command 155 to thegeostationary satellite 120 that can most effectively transmit the imageacquisition command 155 to the selected satellite 125A, 125B. Forexample, a geostationary satellite 120 that is associated with aselected satellite 125A, 125B (e.g., with the selected satellite in thecoverage area, within LOS of the selected satellite 125A, 125B, etc.)may be the most effective intermediary for communicating with thatselected satellite 125A, 125B.

As also shown in FIG. 2 , relay satellite(s) 123 can be used to relaycommunications between one or more imaging satellites 125 (e.g., imagingsatellites 125A and 125B) and also between the imaging satellite(s)125A, 125B and a ground-based station 111. For instance, the imagingsatellite(s) 125A, 125B may be out of range of or otherwise inaccessibleby the ground-based station 111, but by relaying an imaging task payloadvia the relay(s) 123, the payload can be delivered to the ground-basedstation 111 with low latency. In another example, the imaging satellite125B may be commanded to acquire image data of a particular AOI and/orSOI (e.g., with an image acquisition command sent via the RTcommunications pathway 200B). The imaging satellite 125B may succeed, orit may fail to obtain satisfactory results. Depending on the command,the imaging satellite 125B may, in some embodiments, forward the imageacquisition command to imaging satellite 125A via the LEO relay 123 forfurther image capture of the AOI and/or SOI (e.g., to obtain at leastone successful image capture and/or additional successful imagecaptures).

The satellite(s) 125A, 125B can be configured to obtain the imageacquisition command 155 (e.g., a radio signal translation thereof, etc.)and acquire the requested image data. The satellite(s) 125A, 125B caninclude hardware that allows the satellite(s) 125A, 125B to obtain datavia the RT communication pathway 200B and/or communicate data via the RTcommunication pathway 200B. For example, with reference to FIG. 3 , asatellite 125 can include a subsystem 300 that is designed to interfacedirectly with a satellite power/data bus 305 (e.g., with minimalhardware and software impact). The subsystem can use the same power anddata module (PDM) circuit 310 used by other subsystem(s) of thesatellite(s) 125. This can include, for example, utilizing a bus voltage(e.g., nominal 28V, range of 22-32 V, etc.) and/or data interface (DualCAN bus, 1 Mbit/s, etc.). The subsystem 300 can include a basebandprocessor (e.g., a microcontroller, CPLD, FPGA, etc.) that is configuredto manage antenna functions (e.g., all the radio functions that requirean antenna, etc.).

The subsystem 300 can provide RF interfaces for the transmit (Tx)external antenna 320 and/or receive (Rx) external antenna 325. Asatellite 125 can utilize full-duplex operation, such that the receiveris enabled at all times. The satellite 125 can utilize frequencyseparation f1, f2, etc. (e.g., 6 GHz/4 GHz Tx/Rx frequency separation)for effective isolation between the receiving (Rx) and transmitting (Tx)paths.

The expected power consumption of the subsystem 300 can be, for example:PDM subsystem: 1 W, 100% duty; Baseband processor: 1 W, 100% duty; Rxchain: 1 W, 100%; and Tx chain: 5 W, 1% duty. A link for the RTcommunication pathway 200B can be routed through an EPB of a satellite125. This can be implemented by either piggy backing onto an existingEPB-PDM link and creating a spliced connection and/or modifying the EPB.

A satellite 125 can include antenna(s) that allow the satellite 125 toutilize the RT communication pathway 200B and/or the uplink/downlinkcommunication pathway 200A. For instance, a satellite 125 can include anomnidirectional antenna that can be configured to close the link fortasking. One or more antennas may be electronically steerable.Additionally, or alternatively, a satellite 125 can include a phasedarray antenna (e.g., for higher data rates). Two separate antennas canbe included for the forward and/or reverse link. One or more circularpolarization antennas may be used (e.g., left hand and right handantennas).

An antenna can be mounted in the z-axis in the zenith pointing(anti-nadir) direction. The mounted antenna can have sufficient gainunder all pointing modes to at least one geostationary satellite 120.

In some implementations, an antenna for use with the RT communicationpathway 200B, uplink/downlink communication pathway 200C, etc. caninclude a quadrifilar helix antenna. A quadrifilar helix antenna has abroad radiation pattern and can provide 0 dBi gain to +−70 degrees. Ithas very good axial ratio across the entire beam. In someimplementations, more than one receive antenna can be included in asatellite 125 to help ensure that there are no gaps in coverage even atthe extreme off-axis angles (e.g., a multi-input multi-output (MIMO)antenna architecture). A patch antenna or a patch array can be anotheroption (e.g., for a directional beam).

FIG. 4 depicts a block diagram 400 of the onboard satellite softwaremodules that may be utilized in the satellite flight software to supportthe RT communication pathway 200B. To utilize the RT communicationpathway 200B, the satellite flight software can include an executionmodel (e.g., pthread, etc.) to support certain requirements for the RTcommunication pathway 200B, software to support the hardware atranslation layer (e.g., providing a highly efficient packet protocol),a commanding interface to utilize the low bandwidth channel (e.g., 10 sbits/second), an interface to sequence loading, module(s) for attitudecontrol system (ACS) Target tracking, a module for image (IMG) captures,module(s) for emergency commanding, module(s) for real time telemetryfeedback for critical satellite states module(s) for providing theability to change pathway settings autonomously based on position (e.g.,GPS, etc.) and specific geostationary satellite footprint that has thebest line-of-sight (LOS) for the satellite 125, ground packages toencode/decode data transmitted via the RT communication pathway 200B,potentially a module for supporting higher bandwidth in the RTcommunication pathway 200B (e.g., utilizing pointing requirements),and/or other modules.

Since the bandwidth going through the RT communication pathway 200B canbe low, the system 100 can utilize an optimized solution in terms of theamount of bytes required to change an imaging activity. This can beachieved, for example, in the following ways: by providing a highlyoptimized interface to change a sequence with ACS and IMG commands onthe satellite, by providing a highly optimized packet protocol with lowoverhead going over the RT communication pathway 200B, by creating thesmallest common denominator when it comes to changing an imagingactivity, and/or other approaches. In some implementations, sequencesare utilized for image events. The satellite 125 can treat the loadingand activating of a specific sequence id as mutually exclusive in orderto prevent race condition when executing a sequence. This means that asequence can be the lowest common denominator. Additionally, oralternatively, only a part of a schedule that is affected by a highpriority request can be updated. This can include allowing the satellitesoftware to keep loading and activating a specific sequence identifieras mutually exclusive with ground scheduler requirements to allowmultiple imaging activities in one or more sequences.

The RT communication pathway 200B and/or the uplink/downlinkcommunication pathway 200C can be associated with varioussecurity-related features. For example, the satellite command system110, the GEO hub(s) 115, the geostationary satellite(s) 120, the relaysatellite(s) 123, and/or the satellite(s) 125 can utilize encryption andauthentication of commands and telemetry, command level (operational,privileged) enforcement, replay protection, periodic key rotation,and/or other security mechanisms.

FIG. 5 depicts a flow diagram of an example method 500 for selectivelycommunicating with and controlling satellites to acquire image dataaccording to example embodiments of the present disclosure. One or moreportion(s) of the method 500 can be implemented by a computing systemthat includes one or more computing devices such as, for example, thecomputing systems described with reference to the other figures (e.g., asatellite command system 110, a GEO hub 115, a geostationary satellite120, a relay satellite 123, a satellite 125, etc.). Each respectiveportion of the method 500 can be performed by any (or any combination)of one or more computing devices. Moreover, one or more portion(s) ofthe method 500 can be implemented as an algorithm on the hardwarecomponents of the device(s) described herein. FIG. 5 depicts elementsperformed in a particular order for purposes of illustration anddiscussion. Those of ordinary skill in the art, using the disclosuresprovided herein, will understand that the elements of any of the methodsdiscussed herein can be adapted, rearranged, expanded, omitted,combined, and/or modified in various ways without deviating from thescope of the present disclosure. FIG. 5 is described with reference toelements/terms described with respect to other systems and figures forexample illustrated purposes and is not meant to be limiting. One ormore portions of method 500 can be performed additionally, oralternatively, by other systems.

At (505) and (510), the satellite command system 110 can obtain arequest for image data. At (505), the request can be associated with ahigh priority, which would lend itself to communication via the RTcommunication pathway 200B. To properly handle a request that isemploying the RT communication pathway, such a request can be able tojump the queue or will have a different order management (OM) pathway.As described herein, a user 135 can select a high priority (RTcommunication pathway 200B) for the requested image data via a userinterface 145 (e.g., presenting a browser, etc.). Such a selection wouldinitiate a fast feasibility evaluation by the satellite command system110 (e.g., an order management (OM) system 160, a scheduler system 165,a validation system 170 as shown in FIG. 1 ), at (515) to (530). Thesatellite command system 100 can check orbital access for the pluralityof satellites 125 (at 515), select an available satellite and check itscurrent schedules (at 520), determine the feasibility of adjusting thecurrent schedule for the request and determining whether continuity ofthe current schedule is appropriate (at 530). The satellite commandsystem 110 can inform the customer if access is available in a highpriority timeframe (e.g., the next TBD minutes). If there is no accesswithin that time, the OM system 160 can recommend an intermediatepriority request (e.g., a request that is given priority within thestandard communication pathway 200A). In addition to feasibility, anupdated priority tiering model can be employed to make sure that if anyother users get “bumped” from their previously scheduled imageacquisition, it is of a sufficiently lower priority. The access andpriority criteria being met, the user 135 can confirm that the user 135wants to make the request.

In some implementations, the satellite command system 110 cancommunicate and/or stored data indicative of a schedule change. Suchdata can be utilized for a variety of purposes. For example, the dataindicative of the schedule change can be utilized for user notificationand expectation management (e.g., with respect to capture/delivertimelines) as well to keep track to support the scheduler in retaskingbumped requests. Additionally, or alternatively, operations/functionsmay utilize the data indicative of the schedule changes for satellitetroubleshooting and/or situational awareness. Additionally, oralternatively, a data pipeline can utilize such data to remain informedof what image data collections to expect, keeping the platform in sync.

At (535), the satellite command system 110 (e.g., the schedule system165) can generate image acquisition commands 155 for a satellite 125.For example, the satellite command system 110 can package the sequencesin the appropriate order to signal to the satellite 125 that it isoverwriting a nominal imaging sequence. The image acquisition command155 can be communicated via the RT communication pathway 200B. Forexample, the determined sequence can be communicated to a GEO hub 115,which in turn can communicate it to an associated geostationarysatellite 120.

As described herein, in some implementations, the satellite 125 may notcommunicate an acknowledgement of the image acquisition command 155.Accordingly, it is possible that the command could fail en route, sothere may be a period of time where the satellite state is unknown. As aresult, the satellite command system 110 can retain information on boththe collection with the request sent via the RT communication pathway200B and the previously-scheduled collection. These two states can beheld until a confirmation or failure is received from the satellite 125.This could happen, for example, within a few minutes after commandtransmission (e.g., if the command is successfully sent via the RTcommunication pathway 200B) and/or the next time the satellite 125 has aground contact (if the RT command failed).

At (540)-(550), the satellite 125 can acquire image data as instructedvia the RT communication pathway 200B. For example, the satellite 125can obtain the newly generated schedule/sequence, kill/overwrite anyexisting sequences and adjust for the new target (at 540), and acquirethe image data of the target (e.g., via an onboard camera, imagingsystem, etc.), at (545). The satellite 125 can point at a geostationarysatellite 120 to communicate an acknowledgement (via the RTcommunication pathway 200B) that the image date was acquired, at (550).In this way, the user 135 can be notified of an imaging events successor failure (e.g., success known by acknowledgement sent via the RTcommunication pathway 200B, failure known by message sent via the RTcommunication pathway 200B or a lack of an acknowledgment following theimaging event, etc.). In some implementations, the satellite 125 canswitch to an idle mode and wait for the next sequence to start. Forbumped requests, the satellite command system 110 (e.g., the schedulersystem 165, the OM system 160, etc.) can work to re-task the request andinform the bumped user of the change, and the satellite 125 can work toacquire the image data associated with the bumped requests, at (555).

In the event that the image data acquisition is successful (at 560), theimage data acquired by the satellite 125 can be downlinked (e.g., viathe standard communication pathway 200A, at the next ground site, viaone or more relay satellites 123 along a downlink communication pathway200C, etc.), at (565). A downlink tier can be leveraged to make surethat high priority image data (e.g., for which a command was sent viathe RT communication pathway 200B) is the first image data downlinkedfrom the satellite 125. The user 135 can be notified as soon as theimage data arrives at the satellite command system 110 and/or an anothersystem. In some implementations, a user 135 can access raw frames tospeed up the user's access to the image data and drive their decisionsin real time. Processed image data, when complete, can also be madeavailable to the user 135. In the event that the image data acquisitionis not successful (at 560), the satellite command system 110 can returnto its feasibility analysis in an attempt to re-start the process.

In the event that the request is not suited for transmission via the RTcommunication pathway 200B (e.g., due to a lower priority, lack offeasibility, etc.), the request can follow the flow provided at (570) to(590). For example, the satellite command system 110 can pull from thepending requests (at 570), down select targets (at 575), and generate anew schedule based at least in part on the request (at 580). An imageacquisition command 155 (e.g., including data indicative of theschedule) can be uplinked to the satellite 125 via the standardcommunication pathway 200A. At (585), the satellite 125 can process theimage acquisition command 155 and acquire the image data of the target(e.g., in accordance with the schedule). At (590), if any high priorityimage data is onboard, the satellite 125 can send an acknowledgement viathe RT communication pathway 200B and downlink such image data first.The satellite 125 can then downlink any lower priority image data (e.g.,via the standard communications pathway 200A, via one or more relaysatellites 123 along a downlink communication pathway 200C, etc.), forthe successful image acquisitions.

With reference to FIG. 6 , in some implementations, the satellitecommand system 110 can generate a plurality of image acquisition tracks600A-B for a satellite 125. The plurality of tracks can include a firstimage acquisition track 600A and a second image acquisition track 600B.An image acquisition track 600A-B can include one or more sequences 605(e.g., image acquisition commands). A sequence 605 can include anidentifier, sequence lines (e.g., a line of command, a timestamp, args,etc.), a cyclic redundancy check (CRC), and/or other information. Asequence 705 can be indicative of an imaging activity, a downlinkactivity, or a switch activity. Each sequence 705 can activate the nextsequence in the track that is meant to be run. In some implementations,a satellite 125 can go into a “safe mode” when it is not running asequence.

The sequences 605 of the image acquisition track 600A-B can be uplinkedto the satellite 125. For example, the image acquisition tracks 600A-Bcan be communicated to the satellite 125 via the standard communicationpathway 600A (and/or the RT communication pathway 200B). The sequences605 can be activated by the satellite 125 to begin performing theactivities identified in that associated image acquisition track 600A-B.

The first image acquisition track 600A can be different than the secondimage acquisition track 600B. For example, the first image acquisitiontrack 600A can include sequence number ranges 10001-20000 and the secondimage acquisition track 600B can be 20001-30000. Only one imageacquisition track can be active at a given time. The satellite 125 canswitch between the first and second image acquisition tracks 600A-B. Forinstance, an image acquisition track (e.g., the first image acquisitiontrack 600A) can include a sequence that indicates a switch activity(shown as a “*” in FIG. 6 ). Upon activation of that sequence, thesatellite 125 can switch to begin executing the sequences in anotherimage acquisition track (e.g., the second image acquisition track 600B).This provides the ability to store a schedule onboard, and load analternative schedule to the inactive track, and switch at the mostopportune moment.

The following is an end-to-end example implementing a plurality of imageacquisition tracks 600A-B for a satellite 125. A user 135 can submit arequest 140 for the acquisition of image data. The priority 150associated with the request 140 can be a high priority. The satellitecommand system 110 can generate an image acquisition track based atleast in part on the request 140. For example, the satellite commandsystem 110 (e.g., a track scheduling system 175 shown in FIG. 1 ) cananalyze the existing schedule from a currently active track, make a copyof it, and insert the newly desired imaging activity based on thepriority of this request and the other pending requests. In someimplementations, a scheduling solution can include replacing all imagingbetween two switch activities with the imaging of the targets taskedusing the RT communication pathway 600B. In some implementations, ascheduling solution can include having the satellite 125 acquire imagedata as well as possible (taking into account priorities etc.) betweentwo switch activities, while including the tasked target. In someimplementations, a scheduling solution can include having the satellite125 acquire image data as well as possible while ensuring that the RTtarget is tasked while minimizing the impact on existing tasks so thatcurrent schedules are not impacted. Once the image acquisition track isgenerated, it can be checked by the validation system 170 (e.g., so asnot to violate any constraints). The image acquisition track can be sentto satellite 125 (e.g., via the standard communications pathway 600Aand/or the RT communication pathway 600B).

In some implementations, the satellite command system 110 can predictthat a request may become a high priority request at a later time andgenerate a plurality of image acquisition tracks accordingly. Forinstance, a user 135 can submit a request 140 that does not indicate apriority 150 and/or indicates an intermediate or standard priority. Thesatellite command system 110 can be configured to determine that thepriority 150 associated with the request 150 may potentially change to ahigh priority request. Such a determination can be made, for example,based on the user 135, the target, the target's locations, etc.

The satellite command system 110 can generate a plurality of imageacquisition tracks to handle the potentially high priority request. Forexample, the satellite command system 110 can generate a first imageacquisition track 600A that includes an image acquisition sequenceassociated with acquiring the requested image data. The first imageacquisition track 600A can place an associated imaging activity sequencefor the request in a manner for an intermediate or standard priority.The satellite command system 110 can generate a second image acquisitiontrack 600B that includes an image acquisition sequence associated withacquiring the requested image data. The image acquisition sequence ofthe second image acquisition track 600B can be afforded a higherpriority than in the first image acquisition track 600A. For example,the image acquisition sequence can be positioned in the second imageacquisition in a position of higher priority ahead of other pendingrequests than is done in the first image acquisition track 600A. Thiscan be a placement that is in accordance with a request that would beaddressed via the RT communication pathway 200B and/or the communicationpathway 200C. The satellite command system 110 can communicate dataindicative of the first image acquisition track 600A and the secondimage acquisition track 600B to the satellite via the standardcommunication pathway 200A. The satellite 125 can active the first imageacquisition track 600A.

In the event that the priority of the request changes (e.g., to a highpriority), the satellite command system 110 can generate an imageacquisition command 155 to cause the satellite 125 to switch from thefirst image acquisition track 600A to the second image acquisition track600B. Such a command can be communicated to the satellite 125 via the RTcommunication pathway 200B. The satellite 125 can obtain the imageacquisition command 155 indicative of the switching activity. Thesatellite 125 can switch from the first image acquisition track 600A tothe second image acquisition track 600B based at least in part on theimage acquisition command 155 indicative of the switching activity. Thiscan allow the satellite 125 to implement the image acquisition sequenceassociated with the acquisition of the requested data sooner than underthe first image acquisition sequence 600A. The image data can bedownlinked (e.g., via the standard communication pathway 200A, via oneor more relay satellites 123 along a downlink communication pathway200C, etc.) after image acquisition and the image data can be madeavailable to the user 135 (e.g., for download, preview, viewing, etc.).

The track-scheduling system 175 (shown in FIG. 1 ) can utilize at leasta portion of the codebase of the scheduler system 165. Thetrack-scheduling system 175 can be configured to run with a smallerscope (e.g., of one satellite, etc.), one or more targets, and for ashorter duration (less than the orbital period). The scheduling system165 and the track-scheduling system 175 can generate different imageacquisition tracks. For example, the schedule system 165 (e.g., the morerobust scheduler) can generate the first image acquisition track 600Aand the track-scheduling system 175 (e.g., the leaner scheduler) cangenerate the second image acquisition track 600B.

FIG. 7 depicts a flow diagram of an example method 700 for satelliteimaging control according to example embodiments of the presentdisclosure. One or more portion(s) of the method 700 can be implementedby a computing system that includes one or more computing devices suchas, for example, the computing systems described with reference to theother figures (e.g., a satellite command system 110, etc.). Eachrespective portion of the method 700 can be performed by any (or anycombination) of one or more computing devices. Moreover, one or moreportion(s) of the method 800 can be implemented as an algorithm on thehardware components of the device(s) described herein, for example, tocontrol satellites to acquire and downlink image data. FIG. 7 depictselements performed in a particular order for purposes of illustrationand discussion. Those of ordinary skill in the art, using thedisclosures provided herein, will understand that the elements of any ofthe methods discussed herein can be adapted, rearranged, expanded,omitted, combined, and/or modified in various ways without deviatingfrom the scope of the present disclosure. FIG. 7 is described withreference to elements/terms described with respect to other systems andfigures for example illustrated purposes and is not meant to belimiting. One or more portions of method 700 can be performedadditionally, or alternatively, by other systems.

At (705), the method 700 can include obtaining a request for image data.For instance, the satellite command system 110 can obtain a request 140for image data. As described herein, the request 140 can be submittedvia a user device 105 that presents a user interface 145 for creatingthe request 140. The request 140 can be associated with a priority 150for acquiring the image data. The priority can be specified by a user130 and/or determined by the satellite command system 110, as describedherein. The priority 150 can include, for example, a standard priority,an intermediate priority (e.g., a request to be scheduled ahead ofstandard requests), or a high priority (e.g., a request to be given asuper priority that can initiate the utilization of a dedicatedcommunication pathway).

At (710), the method 700 can include determining an availability of aplurality of satellites to acquire the image data. For instance, thesatellite command system 110 can determine an availability of aplurality of satellites 125 to acquire the image data based at least inpart on the request 140. By way of example, the satellite command system110 can obtain and analyze data associated with the satellites 125 todetermine if any would be available to acquire image data of therequested target within a timeframe that is sufficient for the request140. As described herein, this can be based at least in part on thestate of a satellite 125 (e.g., its available power resources, memoryresources, current schedule, etc.), a trajectory of a satellite 125,and/or the other pending requests (e.g., can they be bumped and to whatdegree for this request).

At (715), the method 700 can include determining a selected satellitefrom the plurality of satellites to acquire the image data. Forinstance, the satellite command system 110 can determine a selectedsatellite from the plurality of satellites 125 to acquire the image databased at least in part on the availability of the selected satellite toacquire the image data. By way of example, the satellite command system110 can run an optimization algorithm to determine which satellite canacquire the requested image data with the lowest impact on the currentpending requests and/or the satellite itself/fleet.

At (720), the method 700 can include determining a selectedcommunication pathway to transmit an image acquisition command to theselected satellite. For instance, the satellite command system 110 candetermine a selected communication pathway of a plurality ofcommunication pathways 200A-C to transmit an image acquisition command155 to the selected satellite based at least in part on the priority 150for acquiring the image data. As described herein, the plurality ofcommunication pathways can include a first uplink communication pathway200A via which the image acquisition command 155 is sent directly to theselected satellite (e.g., the standard communication pathway). Theplurality of communication pathways can include a second uplinkcommunication pathway 200B via which the image acquisition command 155is indirectly communicated to the selected satellite via a geostationarysatellite (e.g., the RT communication pathway).

By way of example, the priority 150 for acquiring the image data can beindicative of a high priority. In response, the satellite command system110 can determine that the selected communication pathway includes thesecond uplink communication pathway via which the image acquisitioncommand is indirectly communicated to the selected satellite via ageostationary satellite 120. As described herein, this RT communicationpathway can provide a near real-time persistent communication pathwaythat can allow for expediting the acquisition of the image data. Inanother example, the priority 150 for acquiring the image data is notindicative of a high priority. In response, the satellite command system110 can determine that the selected communication pathway includes thefirst uplink communication pathway via which the image acquisitioncommand is sent directly to the selected satellite 125. As describedherein, this standard communication pathway may include some delays dueto pointing requirements for data transmission and, thus, may beappropriate for lower priority requests.

At (725), the method 700 can include sending the image acquisitioncommand to the selected satellite via the selected communicationpathway. For instance, the satellite command system 110 can send theimage acquisition command 155 to the selected satellite via the selectedcommunication pathway (e.g., including the second uplink communicationpathway). In some implementations, the satellite command system 110 maynot receive an acknowledgement of the receipt of the image acquisitioncommand 115 by the selected satellite via the selected communicationpathway (e.g., the second communication pathway).

At (730), the method 700 can include obtaining an acknowledgement thatthe selected satellite has acquired the image data. The selectedsatellite 125 can be configured to acquire the image data based at leastin part on the image acquisition command 155. For example, the selectedsatellite can be configured to obtain the image acquisition command 115,and to adjust the selected satellite and acquire the image data based atleast in part on the image acquisition command 155. This can includeadjusting the position, orientation, etc. of the selected satellite 125to acquire the image data.

In some implementations, the satellite can be configured to adjust anonboard imaging schedule based at least in part on the image acquisitioncommand. For instance, the satellite command system 110 can determinethat that the priority for acquiring the image data is a potentiallyhigh priority (e.g., indicating that a request may become a highpriority at a later time). Such a determination can be based at least inpart on the user 135, the target, etc. The satellite command system 110can generate a first image acquisition track 700A that includes an imageacquisition sequence associated with acquiring the image data. Thesatellite command system 110 can generate a second image acquisitiontrack 700B (that is different than the first image acquisition track600A). The second image acquisition track 700B can include an imageacquisition sequence associated with acquiring the image data. The imageacquisition sequence can be afforded a higher priority in the secondimage acquisition track 700B than in the first image acquisition track600A, as described herein. The satellite command system 110 cancommunicate data indicative of the first image acquisition track 600Aand the second image acquisition track 600B to the selected satellite125.

The satellite command system 110 can determine that the priority 150associated with acquiring the image data is a high priority (e.g., at alater time). The satellite command system 110 can communicate an imageacquisition command to the satellite 125 based at least in part on thedetermination that the priority 150 is a high priority. The imageacquisition command can be indicative of a command for the selectedsatellite to switch from the first image acquisition track 600A to thesecond image acquisition track 600B. The selected satellite can beconfigured to switch to from the first image acquisition track 600A tothe second image acquisition track 600B and acquire the image data inaccordance with the second image acquisition track 600B (e.g., so thatthe requested image data is acquired sooner).

At (735), the method 700 can include obtaining the image data acquiredby the selected satellite. For instance, the satellite 125 can beconfigured to downlink the acquired image data to the satellite commandsystem 110. The image data can be communicated via the firstcommunication pathway (e.g., the standard communication pathway) and/orthe RT communication pathway. The satellite command system 110 canobtain the image data acquired by the selected satellite 125 via thefirst communication pathway. Additionally, or alternatively, theacquired data can be downlinked using one or more relay satellites 123as described herein.

At (740), the method can include making the image data available to auser. For instance, the satellite command system 110 can make the imagedata available to a user 135. This can include, for example,communication the image data (e.g., a raw version, a processed version,etc.) to a user device 105, provide the image data for display via auser interface for viewing by the user, providing access to the imagedata for download, preview, etc.

While FIG. 7 describes the communication of image acquisition commandsvia a selected communication pathway, the present disclosure is notlimited to such an embodiment. The command(s) communicated via theselected communication pathway can include other data and/orinformation. For instance, the command(s) can also, or alternatively,include data and/or information related to launch and early orbitoperations (commissioning) commands, anomaly recovery operations, downlinking high importance information (e.g., image tiles, critical systemstatus (heath information), GPS radio sample data, etc.), radio ranging(e.g., as the path is deterministic/the relays are fixed and can be usedto calculate ranging just as ground originated signals).

In some implementations, the systems and methods described herein can beutilized for conjunction avoidance and/or other short notice satelliteorbit maneuvers. For instance, FIG. 8 depicts a flow diagram of anexample method 800 for satellite control according to exampleembodiments of the present disclosure. In particular, the method 800 canbe utilized for real-time satellite conjunction avoidance and/or othershort term maneuver control. One or more portion(s) of the method 800can be implemented by a computing system that includes one or morecomputing devices such as, for example, the computing systems describedherein with reference to the other figures (e.g., a satellite commandsystem 110, etc.). Each respective portion of the method 800 can beperformed by any (or any combination) of one or more computing devices.Moreover, one or more portion(s) of the method 800 can be implemented asan algorithm on the hardware components of the device(s) describedherein, for example, to control satellites (e.g., for conjunctionavoidance). FIG. 8 depicts elements performed in a particular order forpurposes of illustration and discussion. Those of ordinary skill in theart, using the disclosures provided herein, will understand that theelements of any of the methods discussed herein can be adapted,rearranged, expanded, omitted, combined, and/or modified in various wayswithout deviating from the scope of the present disclosure. FIG. 8 isdescribed with reference to elements/terms described with respect toother systems and figures for example illustrated purposes and is notmeant to be limiting. One or more portions of method 800 can beperformed additionally, or alternatively, by other systems.

At (805), the method 800 can include obtaining position data for one ormore satellites. For instance, the satellite command system 110 canobtain position data that is indicative of one or more past positions,one or more current positions, and/or one or more future positions ofone or more satellites. The positions can be described as a positionalong an orbit/trajectory, coordinate, radial position, positionrelative to the earth/portion of the earth/base station/other referencepoint, and/or in another form that is indicative of satellite'sposition/location. The future position(s) of the satellite can beexpressed as a projected/predicted position and/or a future satellitetrajectory.

The satellite command system 110 can obtain satellite environmentaldata. The satellite environmental data can include, for example, dataindicative of one or more other objects within space and/or thesurrounding environment of the satellite. This can include otherhardware/equipment orbiting the earth, other objects traveling in space(e.g., natural and artificial space debris, meteor, etc.), satellites ofanother entity, etc. The satellite environmental data can be indicativeof the past, current, and/or future position(s) of these object(s). Suchdata can be acquired via monitoring equipment orbiting the earth and/orfrom a ground-based system/database that stores such information.

At (810), the method 800 can include determining a potential conjunctionassociated with the satellite(s). For instance, the satellite commandsystem 110 (and/or another system in communication therewith) candetermine that a first satellite may experience a potential conjunctionwith another object (e.g., another satellite, natural/artificial debris,equipment, etc.) based at least in part on the position data and/or thesatellite environmental data. By way of example, the satellite commandsystem 110 can use the position data and/or satellite environmental datato determine that the trajectories of the first satellite and anotherobject may intersect.

At (815), the method 800 can include determining a conjunctionremediation action. For instance, the satellite command 110 candetermine a conjunction remediation action to prevent the potentialconjunction associated with the satellite(s). By way of example, theconjunction remediation action can include a maneuver that can beperformed by the first satellite in order for the satellite tore-position/alter (at least temporarily) its trajectory to avoidintersecting and/or colliding with another object (e.g., debris, asecond satellite, etc.). The satellite can include one or more units(e.g., propulsion systems) by which the first satellite can alter itsposition (in response to the command). Additionally, or alternatively,the conjunction remediation action can include the re-positioning of theobject that may be involved in the potential conjunction (e.g., asatellite command for the second satellite and/or orbiting equipment).

At (820), the method 800 can include determining a selectedcommunication pathway to transmit a conjunction remediation actioncommand to the satellite(s). For instance the satellite command system110 can include determining a selected communication pathway to transmita command indicative of the conjunction remediation action to the firstsatellite. By way of example, the satellite command system 110 candetermine a selected communication pathway of a plurality ofcommunication pathways 200A-C to transmit the conjunction remediationaction command to the first satellite based at least in part on apriority of the command. As described herein, the plurality ofcommunication pathways can include a first communication pathway 200Avia which the image acquisition command 155 is sent directly to theselected satellite (e.g., the standard communication pathway). Theplurality of communication pathways can include a second communicationpathway 200B via which the conjunction remediation action command isindirectly communicated to the selected satellite via a geostationarysatellite (e.g., the RT communication pathway). The plurality ofcommunication pathways can include a third communication pathway 200C.The conjunction remediation action command can be considered of highpriority due to the nature of the conjunction avoidance. In response,the satellite command system 110 can determine that the selectedcommunication pathway is the second communication pathway via which theconjunction remediation action command is indirectly communicated to theselected satellite via a geostationary satellite 120. As describedherein, this RT communication pathway can provide a near real-timepersistent communication pathway that can allow for expediting thecommand and implementation of the conjunction remediation action.

In some implementations, at (825), the method 800 can include obtainingan acknowledgement that the selected satellite has received the command.For example, the satellite command system 110 can obtain anacknowledgement that the first satellite has received the command. Theacknowledgment can include, for example, data that communicated to thesatellite command system 110 via the RT communications pathway. In someimplementations, no such acknowledgment may be sent.

At (830), the method 800 can include determining that the conjunctionremediation action has been implemented by satellite(s). For instance,the satellite command system 110 can determine that the conjunctionremediation action has been implemented by the first satellite to avoidthe potential conjunction (e.g., collision with debris, etc.). Thisdetermination can be based at least in part on updated position dataand/or satellite environmental data. The satellite command system 110can confirm that the first satellite has implemented the conjunctionremediation action by determining that the first satellite (and/oranother object) has altered its position and/or trajectory based atleast in part on the updated position data (and/or updated satelliteenvironmental data).

At (835), the method 800 can include confirming that the potentialconjunction has been avoided. For instance, the satellite command system110 can confirm that the potential conjunction has been avoided based atleast in part on the updated position data and/or satelliteenvironmental data. By way of example, the satellite command system 110can determined that the first satellite and an object with which it maypotentially have collided with have passed one another withoutconjunction.

FIG. 9 depicts a flow diagram of an example method 900 for satelliteimaging according to example embodiments of the present disclosure. Themethod 900 can be performed by a plurality of systems including a firstsystem and a second system. At (905), the method 900 can includeobtaining a request for image data. For instance, the satellite commandsystem 110 can obtain a request 140 for image data. As described herein,the request 140 can be submitted via a user device 105 that presents auser interface 145 for creating the request 140. The request 140 can beassociated with a priority 150 for acquiring the image data. Thepriority can be specified by a user 130 and/or determined by thesatellite command system 110, as described herein. The priority 150 caninclude, for example, a standard priority, an intermediate priority(e.g., a request to be scheduled ahead of standard requests), or a highpriority (e.g., a request to be given a super priority that can initiatethe utilization of a dedicated communication pathway).

At (910), the method 900 can include determining a selected imagingsatellite from the plurality of satellites to acquire the image data.For instance, the satellite command system 110 can determine a selectedsatellite from the plurality of satellites 125 to acquire the image databased at least in part on an availability of the selected satellite toacquire the image data. By way of example, the satellite command system110 can run an optimization algorithm to determine which satellite canacquire the requested image data with the lowest impact on the currentpending requests and/or the satellite itself/fleet.

At (915), the method 900 can include determining a communication pathwayof a plurality of communication pathways for servicing the request forimage data. For example, the satellite command system 110 can determinea communication pathway of a plurality of communication pathways forservicing the request for image data. The selected communication pathwaycan include an uplink communication pathway (e.g., a standard uplinkcommunication pathway, an RT communication pathway, an LEO relaycommunication pathway) and a downlink communication pathway (e.g., anLEO relay communication pathway).

At (920), the method 900 can include sending the image acquisitioncommand to the selected imaging satellite via the selected communicationpathway. For example, the satellite command system 110 can send theimage acquisition command to the selected imaging satellite via theselected communication pathway.

In some implementations, at (925), the method 900 can include steeringone or more relay satellites. For example, a satellite computing system(including one or more satellite computing system) can steer an antennaof a first relay satellite of the one or more relay satellites tomaintain a line of communication with the imaging satellite (e.g., afirst imaging satellite). The satellite computing system can include oneor more relay satellites in low earth orbit (e.g., LEO relay(s) 123)(and/or medium-earth orbit). The method 900 can also include steeringthe antenna of the first relay satellite to maintain a line ofcommunication with a second imaging satellite. This can be accomplishedvia the transmission of steering commands (e.g., with location data,steering angles, coordinates, etc.) to the relay satellite(s). The relaysatellites can activate one or more steering mechanisms to adjust theline of communication as instructed.

At (930), the method 900 can include receiving an imaging task payloadassociated with a priority. For example, the satellite computing systemcan receive an imaging task payload associated with a priority. Theimaging task payload may have been generated responsive to an imageacquisition command. The image acquisition command may have beentransmitted to the imaging satellite via a communication pathwayselected from a plurality of communication pathways at least in partbased on the priority (e.g., the priority 150 associated with theunderlying request 140), as described herein. The imaging task payloadcan include image data captured by the imaging satellite. The image taskpayload can be received, by the satellite computing system, from theimaging satellite. In some implementations, the imaging task payload caninclude one or more frames of a video recording.

At (935), the method 900 can include transmitting the imaging taskpayload to an imaging task payload receiver. For example, the satellitecomputing system (including the one or more relay satellites) cantransmit the imaging task payload to an imaging task payload receiver(e.g., using a radio frequency and/or optical downlink). This caninclude transmitting the imaging task payload from a first relaysatellite of the one or more relay satellites to a second relaysatellite of the one or more relay satellites. In some implementations,the imaging task payload receiver can be a ground-based terminal.

In some implementations, the imaging task payload receiver can beassociated with another satellite. For example, the image task payloadcan be captured via a first imaging satellite. A second imagingsatellite can include the imaging task payload receiver. The imagingtask payload can include instructions that, when executed by one or moreprocessors of the second imaging satellite, cause the second imagingsatellite to monitor an AOI and/or SOI monitored by the first imagingsatellite (e.g., as requested by and/or otherwise indicated to be ofinterest to a user).

The imaging satellite, relay satellites, and/or ground-based terminalcan be associated with a plurality of different parties. For example,the imaging satellite can be administered (e.g., coordinated, managed,owned, leased, controlled, etc.) by a first service entity. The firstservice entity can be an entity offering imaging services to user(s) andreceiving requests for image data (e.g., including video data). Thefirst service entity may also be the entity that delivers the requestedimage data to the user. The ground-based terminal can be associated witha third-party service entity. This can include an entity thatadministers another constellation of satellites. For example, thethird-party service entity can be an entity that administers the one ormore relay satellites (e.g., LEO relays, MEO relays, etc.). In oneembodiment, the ground-based terminal can comprise a portable system(e.g., a vehicle-mounted system, ship-mounted system, human, carriedsystem, etc.).

FIG. 10 depicts an example computing system 1000 that can be used toimplement the methods and systems according to example aspects of thepresent disclosure. The system 1000 can include computing system 1005and satellite 1055, which can communicate with one another usingtransmission signals 1010 (e.g., radio frequency transmissions). Thesystem 1000 can be implemented using a client-server architecture and/orother suitable architectures. The transmission signals 1010 can comprisecommunications along any one of, subset of, or all of communicationpathways 200A, 200B, and 200C.

The computing system 1005 can correspond to any of the systems describedherein (e.g., satellite command system 110, GEO hub 115, etc.).Computing system 1005 can include one or more computing device(s) 1015.Computing device(s) 1015 can include one or more processor(s) 1020 andone or more memory device(s) 1025. Computing device(s) 1015 can alsoinclude a communication interface 1040 used to communicate withsatellite 1050 and/or another computing system/device. Communicationinterface 1040 can include any suitable components for communicatingwith satellite 1050 and/or another system/device, including for example,transmitters, receivers, ports, controllers, antennas, or other suitablecomponents.

Processor(s) 1020 can include any suitable processing device, such as amicroprocessor, microcontroller, integrated circuit, logic device, orother suitable processing device. Memory device(s) 1025 can include oneor more computer-readable media, including, but not limited to,non-transitory computer-readable media, RAM, ROM, hard drives, flashdrives, or other memory devices. Memory device(s) 1025 can storeinformation accessible by processor(s) 1020, including computer-readableinstructions 1030 that can be executed by processor(s) 1020.Instructions 1030 can be any set of instructions that when executed byprocessor(s) 1020, cause one or more processor(s) 1020 to performoperations. For instance, execution of instructions 1030 can causeprocessor(s) 1020 to perform any of the operations and/or functions forwhich computing device(s) 1015 and/or computing system 1005 areconfigured (e.g., such as the functions of the satellite command system110, the user device 135, the GEO hub 115, etc.). In someimplementations, execution of instructions 1030 can cause processor(s)1020 to perform, at least a portion of, methods 600 and/or 800 accordingto example embodiments of the present disclosure.

As shown in FIG. 10 , memory device(s) 1025 can also store data 1035that can be retrieved, manipulated, created, or stored by processor(s)1020. Data 1035 can include, for instance, any other data and/orinformation described herein. Data 1035 can be stored in one or moredatabase(s). The one or more database(s) can be connected to computingdevice(s) 1015 by a high bandwidth LAN or WAN, or can also be connectedto computing device(s) 1015 through various other suitable networks. Theone or more databases can be split up so that they are located inmultiple locales.

Computing system 1005 can exchange data with satellite 1050 usingsignals 1010. Although one satellite 1050 is illustrated in FIG. 10 ,any number of satellites can be configured to communicate with thecomputing system 1005. In some implementations, satellite 1050 can beassociated with any suitable type of satellite system, includingsatellites, mini-satellites, micro-satellites, nano-satellites, etc.Satellite 1050 can correspond to any of the satellites described herein(e.g., geostationary satellite 120, satellite 125, etc.).

Satellite 1050 can include computing device(s) 1055, which can includeone or more processor(s) 1060 and one or more memory device(s) 1060.Processor(s) 1060 can include one or more central processing units(CPUs), graphical processing units (GPUs), and/or other types ofprocessors. Memory device(s) 1065 can include one or morecomputer-readable media and can store information accessible byprocessor(s) 1060, including instructions 1070 that can be executed byprocessor(s) 1060. For instance, memory device(s) 1065 can storeinstructions 1070 for implementing a command receive and image collectfor capture image data; storing image data, commands, tracks, etc.;transmitting the image data to a remote computing device (e.g.,computing system 1005). In some implementations, execution ofinstructions 1065 can cause processor(s) 1060 to perform any of theoperations and/or functions for which satellite 125 and/or geostationarysatellite 120 is configured. In some implementations, execution ofinstructions 1070 can cause processor(s) 1060 to perform, at least aportion of, method 600 and/or 800.

Memory device(s) 1065 can also store data 1075 that can be retrieved,manipulated, created, or stored by processor(s) 1060. Data 1075 caninclude, for instance, image acquisition commands, tracks, sequences,position data, data associated with the satellite, image data, and/orany other data and/or information described herein. Data 1075 can bestored in one or more database(s). The one or more database(s) can beconnected to computing device(s) 1055 by a high bandwidth LAN or WAN, orcan also be connected to computing device(s) 1055 through various othersuitable networks. The one or more database(s) can be split up so thatthey are located in multiple locales.

Satellite 1050 can also include a communication interface 1080 used tocommunicate with one or more remote computing device(s) (e.g., computingsystem 1005, geostationary satellite(s), etc.) using signals 1010.Communication interface 1080 can include any suitable components forinterfacing with one or more remote computing device(s), including forexample, transmitters, receivers, ports, controllers, antennas, or othersuitable components.

In some implementations, one or more aspect(s) of communication amongthe components of system 1000 can involve communication through anetwork. In such implementations, the network can be any type ofcommunications network, such as a local area network (e.g. intranet),wide area network (e.g. Internet), cellular network, or some combinationthereof. The network can also include a direct connection, for instance,between one or more of the components. In general, communication throughthe network can be carried via a network interface using any type ofwired and/or wireless connection, using a variety of communicationprotocols (e.g. TCP/IP, HTTP, SMTP, FTP), encodings or formats (e.g.HTML, XML), and/or protection schemes (e.g. VPN, secure HTTP, SSL).

In one embodiment, the satellite 1050 can be an imaging satellite (e.g.,imaging satellite 125). In one embodiment, the satellite 1050 canprocess one or more images (e.g., stored as data 1075 in the memory1065) using the computing device(s) 1055 to determine if an SOI isdepicted within the image data. For instance, in one embodiment, one ormore onboard computing devices 1055 of the satellite(s) 1050 can processimage data with one or more image recognition models to determine aprobability that an SOI is depicted therein. In some embodiments, basedon the probability determined, the satellite(s) 1050 can identify theSOI and capture images thereof.

In one embodiment, the computing device(s) 1055 can performpre-processing on image data stored in the memory 1065 with a firstimage recognition model to determine a probability that an SOI isdepicted thereby. Based on the probability determined, the satellite(s)1055 can transmit at least a portion of the image data to anothercomputing system for further processing. For instance, in oneembodiment, the satellite(s) 1055 can transmit at least a portion of theimage data likely to contain the SOI via signals 1010 to a computingsystem 1005. For instance, the image data can be comprised in an imagingtask payload relayed by one or more LEO relay satellites to an imagingtask payload receiver associated with or otherwise in communication withthe computing system 1005. The computing system 1005 can then performadditional processing on the image data using a second image recognitionmodel (and optionally multiple additional models) to obtain additionalinformation about the image. For instance, in one embodiment, thecomputing system 1005 can be a ground-based system with increased accessto high-power processing, large data storage capacities, and/orlow-latency network connections. In some embodiments, however, thecomputing system 1005 can be onboard another satellite which may haveadditional processing bandwidth and/or other capacity to process theimaging task payload. In this manner, the computing system 1005 may beable to recognize additional aspects of the image data not resolved bythe pre-processing. Based on this further processing, the computingsystem 1005 can communicate with the satellite 1050 via signals 1010 toconfirm, correct, and/or otherwise supplement the operations of thesatellite 1050. For instance, the satellite 1050 may recognize that anobject within a category of SOIs is depicted within image data capturedby the satellite 1050 (or optionally image data captured by anothersatellite, in some embodiments), whereas the computing system 1005 mayadditionally be able to identify the object as a specific SOI indicatedin an image acquisition command and provide additional instructions tothe satellite 1050 to proceed with imaging of the object.

Although the above examples are discussed in the context of a singlesatellite 1050, it is to be understood that a plurality of satellites1050 can similarly correspond with one or more computing systems 1005via signals 1010. In some embodiments, recognized SOIs can be imaged bya plurality of satellites 1050, as a first satellite 1050 can recognizethe SOI (e.g., independently or cooperatively with the computing system1005) and relay image data and/or image acquisition commands in animaging task payload to one or more other satellite(s) 1050.

For instance, in one embodiment, a plurality of satellites 1050 canperform an autonomous “tip and cue” operation. An imaging satellite 1050that acquires an image of a region could extract, for example,information from the image and identify SOIs autonomously (e.g., withoutan operator or ground involvement). The satellite 1050 can then “tip andcue” to another satellite 1050 which is positioned or is scheduled to bepositioned to capture further images of the SOI(s). In one exampleapplication, for instance, if a satellite 1050 has detected one or moreships in a region (e.g., a region identified as an AOI due to, forinstance, shipping and/or fishing activity restrictions), the satellite1050 can “tip and cue” to another satellite for further imaging and/orsensing tasks by transmitting an imaging task payload via one or morerelay networks. For instance, in addition or in alternative to imagingsensors, the other satellite could comprise systems for engaging withautomatic identification system (AIS) networks and/or search and rescue(SAR) networks for ship identification.

ADDITIONAL DISCLOSURE

The technology discussed herein makes reference to servers, databases,software applications, and other computer-based systems, as well asactions taken and information sent to and from such systems. One ofordinary skill in the art will recognize that the inherent flexibilityof computer-based systems allows for a great variety of possibleconfigurations, combinations, and divisions of tasks and functionalitybetween and among components. For instance, server processes discussedherein can be implemented using a single server or multiple serversworking in combination. Databases and applications can be implemented ona single system or distributed across multiple systems. Distributedcomponents can operate sequentially or in parallel.

Furthermore, computing tasks discussed herein as being performed at aserver or ground station can instead be performed at a user device.Likewise, computing tasks discussed herein as being performed at theuser device can instead be performed at the server or ground station.

While the present subject matter has been described in detail withrespect to specific example embodiments and methods thereof, it will beappreciated that those skilled in the art, upon attaining anunderstanding of the foregoing can readily produce alterations to,variations of, and equivalents to such embodiments. Accordingly, thescope of the present disclosure is by way of example rather than by wayof limitation, and the subject disclosure does not preclude inclusion ofsuch modifications, variations and/or additions to the present subjectmatter as would be readily apparent to one of ordinary skill in the art.

1.-20. (canceled)
 21. A computing system comprising: one or moreprocessors; and one or more tangible, non-transitory, computer readablemedia that collectively store instructions that, when executed by theone or more processors, cause the computing system to perform operationscomprising: obtaining a request for image data, wherein the request isassociated with a priority indicating how quickly image data is to beacquired; determining a selected imaging satellite from a plurality ofimaging satellites to acquire the image data based at least in part onan availability of the selected imaging satellite to acquire the imagedata; determining, based at least in part on the priority, a selectedcommunication pathway of a plurality of communication pathways forservicing the request for image data, wherein the selected communicationpathway comprises communication to one or more relay satellites inlow-earth orbit when it is determined that the one or more relaysatellites provide a quicker route than directly linking to the selectedimaging satellite; and sending an image acquisition command to theselected imaging satellite to service the request for image data inaccordance with the selected communication pathway.
 22. The computingsystem of claim 21, wherein the plurality of communication pathwayscomprise an uplink communication pathway for transmission to theselected imaging satellite, and a downlink communication pathway fortransmission from the selected imaging satellite.
 23. The computingsystem of claim 22, wherein the operations further comprise: obtainingan imaging task payload of the selected imaging satellite via thedownlink communication pathway, wherein the downlink communicationpathway includes a communication of the imaging task payload via the oneor more relay satellites.
 24. The computing system of claim 23, whereinthe downlink communication pathway includes a transmission of theimaging task payload from a first relay satellite of the one or morerelay satellites to a second relay satellite of the one or more relaysatellites.
 25. The computing system of claim 21, wherein the imagingtask payload comprises one or more frames of a video recording.
 26. Thecomputing system of claim 22, wherein the uplink communication pathwayis selected from a plurality of uplink communication pathways based atleast in part on the priority, wherein the plurality of uplinkcommunication pathways comprises a first uplink communication pathwayvia which the image acquisition command is sent directly to the selectedimaging satellite and a second uplink communication pathway via whichthe image acquisition command is indirectly communicated to the selectedimaging satellite.
 27. The computing system of claim 26, wherein theimage acquisition command is indirectly communicated to the selectedimaging satellite by a geostationary satellite.
 28. The computing systemof claim 21, wherein the image acquisition command is indirectlycommunicated to the selected imaging satellite by at least one of therelay satellites in low-earth orbit.
 29. The computing system of claim21, wherein the selected imaging satellite is a first imaging satelliteconfigured to transmit a communication to a second imaging satellite,wherein the communication comprises instructions for the second imagingsatellite to monitor a subject of interest associated with the request.30. A computer-implemented method comprising: obtaining a request forimage data, wherein the request is associated with a priority indicatinghow quickly image data is to be acquired; determining a selected imagingsatellite from a plurality of imaging satellites to acquire the imagedata based at least in part on an availability of the selected imagingsatellite to acquire the image data; determining, based at least in parton the priority, a selected communication pathway of a plurality ofcommunication pathways for servicing the request for image data, whereinthe selected communication pathway comprises communication to one ormore relay satellites in low-earth orbit when it is determined that theone or more relay satellites provide a quicker route than directlylinking to the selected imaging satellite; and sending an imageacquisition command to the selected imaging satellite to service therequest for image data in accordance with the selected communicationpathway.
 31. The computer-implemented method of claim 30, wherein theimage acquisition command is indirectly communicated to the selectedimaging satellite by the one or more relay satellites.
 32. Thecomputer-implemented method of claim 30, further comprising: determininga comparison of the priority to a priority threshold; and adjusting adata structure comprising a plurality of image acquisition commands toindicate the image acquisition command associated with the request basedon the comparison of the priority to the priority threshold.
 33. Thecomputer-implemented method of claim 30, wherein the image acquisitioncommand is indirectly communicated to the selected imaging satellite bya geostationary satellite.
 34. The computer-implemented method of claim30, wherein the plurality of communication pathways comprise an uplinkcommunication pathway for transmission to the selected imagingsatellite, and a downlink communication pathway for transmission fromthe selected imaging satellite.
 35. The computer-implemented method ofclaim 34, further comprising: obtaining an imaging task payload via thedownlink communication pathway, wherein the downlink communicationpathway includes a communication of the imaging task payload via the oneor more relay satellites.
 36. The computer-implemented method of claim35, wherein the downlink communication pathway includes a transmissionof the imaging task payload from a first relay satellite of the one ormore relay satellites to a second relay satellite of the one or morerelay satellites.
 37. The computer-implemented method of claim 30,wherein the selected satellite is a first imaging satellite, and whereinthe operations further comprise: obtaining an imaging task payload froma second satellite, the imaging task payload comprising image datacaptured by the second imaging satellite, the image data captured by thesecond imaging satellite being indicative of a subject of interestindicated in the request.
 38. The computer-implemented method of claim37, wherein the selected imaging satellite is configured to transmit acommunication to the second imaging satellite, the communication beingassociated with the subject of interest.
 39. One or more tangible,non-transitory, computer readable media that collectively storeinstructions that, when executed by one or more processors, cause acomputing system to perform operations comprising: obtaining a requestfor image data, wherein the request is associated with a priorityindicating how quickly image data is to be acquired; determining aselected imaging satellite from a plurality of imaging satellites toacquire the image data based at least in part on an availability of theselected imaging satellite to acquire the image data; determining, basedat least in part on the priority, a selected communication pathway of aplurality of communication pathways for servicing the request for imagedata, wherein the selected communication pathway comprises communicationto one or more relay satellites in low-earth orbit when it is determinedthat the one or more relay satellites provide a quicker route thandirectly linking to the selected imaging satellite; and sending an imageacquisition command to the selected imaging satellite to service therequest for image data in accordance with the selected communicationpathway.
 40. The one or more tangible, non-transitory, computer readablemedia of claim 39, wherein the plurality of communication pathwayscomprises an uplink communication pathway for transmission to theselected imaging satellite, and a downlink communication pathway fortransmission from the selected imaging satellite via one or more relaysatellites.